Time-Varying Formation Tracking Control for Multi-UAV Systems with Communication Delays and Switching Topologies

Time-varying formation tracking (TVFT) control problems for multiple unmanned aerial vehicle (multi-UAV) systems with communication delays and switching topologies are investigated in this paper. A distribute state observer utilizing neighboring relative information is constructed to estimate states of the leader. Convergence of the observer can be proved using linear matrix inequality (LMI) method and Lyapunov-Krasovskii function. Based on the estimated states, a formation control protocol is proposed. Furthermore, we build a multi-UAV experimental platform composed of four quadrotors and a multi-channel communication system to verify the proposed methods. The obtained theoretical results are applied to solve the target encirclement problems of multi-UA V systems. Simulations and flying experiments are performed to verify the effectiveness of the presented methods.